Aiming at the problem of nonlinearity, fuzziness, strong coupling and multi-objective of the pick-up mechanism of planetary gear train with ellipse gears and incomplete non-circular gear in optimization process, firstly, the kinematical model and optimization objective function were established. Using parameter-guided optimization method, the kinematical optimization software was developed with Visual Basic visualization platform. A set of parameters were obtained and optimized which could meet the work trajectory requirements of pick-up mechanism. Finally, the fetching test was carried on experimental prototype to verify the rationality and effectiveness of the parameters of pick-up mechanism.